模块化多用途小型堆水下电视检查系统研制  

Development of a Modular Multi-purpose Small Reactor Underwater Television Inspection System

作　　者：吴婧[1] 阳雷 冯常 WU Jing;YANG Lei;FENG Chang(Nuclear Power Institute of China,Chengdu,Sichuan Prov.610041,China)

机构地区：[1]中国核动力研究设计院,四川成都610041

出　　处：《中国核电》2021年第2期175-180,共6页China Nuclear Power

摘　　要：针对模块化多用途小型堆(ACP100)在役检查时高温、高压和高辐射水下特殊环境下无法实施人工目视检查的问题,提出了一种小型高耐辐射水下观测机器人系统设计的方案,并重点解决了动密封选用、推进器的选配、远程遥控及耐辐射性等问题,实现了对水下机器人的运动及功能控制,经过实验验证了各项性能,设计方法可行。结果表明该系统控制精度高,功耗低,实时性好,具有很强的抗干扰能力,能有效地用于反应堆压力容器在役检查的目视检测。Aiming at the problem that the manual visual inspection cannot be performed under the special environment of high temperature,high pressure and high radiation underwater during the inspection of the modular multi-purpose small reactor(ACP100)in service,a design of a small high radiation resistant underwater observation robot system is put forward,which is focused on solving the problems of dynamic seal selection,thruster selection,remote control and radiation resistance,etc.,and realizes the motion and function control of the underwater robot.Experiments have verified various performance and the design method is feasible.The results show that the system has high control accuracy,low power consumption,good real-time performance,strong anti-interference ability,and can be effectively used for the visual inspection in reactor pressure vessel in-service inspection.

关 键 词：在役检查 压力容器 水下电视 目视检查 

分 类 号：TM623[电气工程—电力系统及自动化]